1. Cameron Noe

2.  Solenoid  Piezoelectric actuation  Servo  Modified motor schemes: Linear actuator  Pneumatics  Hydraulics

4. 1 st Generation 2 nd Generation

5. 3 rd Generation 4 th Generation

6. 110 g 230 g 360 g 440 g Bundle Weight: 2.93 g

7. Actuation Circuit Diagram  Arduino Based  Employs Relays  LED indicators  Simple moving average

8. Nitinol at extended length (No EMG signal) Nitinol in contracted state with LED indicating EMG signal detected Example of simple arm powered by nitinol actuator

9.  3 Parts  Designed for 3D printing  Can assemble right out of printer  1 point of articulation  1 degree of freedom Exploded view of Gripper components

10. Partially assembled Gripper with internal Structure Exposed.